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<div class="title">davidsdk_grabber.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *  Author: Victor Lamoine (victor.lamoine@gmail.com)</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef __PCL_IO_DAVIDSDK_GRABBER__</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define __PCL_IO_DAVIDSDK_GRABBER__</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2time_8h.html">pcl/common/time.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;boost/thread.hpp&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/PolygonMesh.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/io/grabber.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;david.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">struct </span>PointXYZ;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keyword">class </span><a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html">   66</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_david_s_d_k_grabber.html">DavidSDKGrabber</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_grabber.html">Grabber</a></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;DavidSDKGrabber&gt; Ptr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const DavidSDKGrabber&gt; ConstPtr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="comment">// Define callback signature typedefs</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      (sig_cb_davidsdk_point_cloud) (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr &amp;);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      (sig_cb_davidsdk_mesh) (<span class="keyword">const</span> pcl::PolygonMesh::Ptr &amp;);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      (sig_cb_davidsdk_image) (<span class="keyword">const</span> boost::shared_ptr&lt;pcl::PCLImage&gt; &amp;);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      (sig_cb_davidsdk_point_cloud_image) (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr &amp;,</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                                           <span class="keyword">const</span> boost::shared_ptr&lt;pcl::PCLImage&gt; &amp;);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      (sig_cb_davidsdk_mesh_image) (<span class="keyword">const</span> pcl::PolygonMesh::Ptr &amp;,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                                    <span class="keyword">const</span> boost::shared_ptr&lt;pcl::PCLImage&gt; &amp;);</div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a64af01304a65641c8abc2351fcff13b5">   93</a></span>&#160;      <a class="code" href="classpcl_1_1_david_s_d_k_grabber.html#a64af01304a65641c8abc2351fcff13b5">DavidSDKGrabber</a> ();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a10df7434d2f581b87fa3aa9c2215b736">   97</a></span>&#160;      <a class="code" href="classpcl_1_1_david_s_d_k_grabber.html#a10df7434d2f581b87fa3aa9c2215b736">~DavidSDKGrabber</a> () throw ();</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      david::ServerInfo</div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#aa37f3e67f610a8a713e4c90c61747ad0">  104</a></span>&#160;      connect (const std::<span class="keywordtype">string</span> &amp; address = &quot;127.0.0.1&quot;,</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;               uint16_t port = david::DAVID_SDK_DefaultPort);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a582a3eab890fc3fb4737c28e25820b9b">  110</a></span>&#160;      disconnect (const <span class="keywordtype">bool</span> stop_server);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#af8b657a0629286fc89265c8159a338fd">  114</a></span>&#160;      start ();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a560f20528ec7c6c7725be34a01f1c203">  118</a></span>&#160;      stop ();</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#ad25d179ea002051f5bad0ce93d30f463">  123</a></span>&#160;      isRunning () const;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a50850c0ecafee343a84ef39d8b83f398">  128</a></span>&#160;      isConnected () const;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a4aec0b3fcf2fda4892f1f9cdaa65f7b8">  133</a></span>&#160;      getName () const;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#ad717027b798a7b61ec3c3ddd574cdbc2">  138</a></span>&#160;      getLocalPath ();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#aa1c7f0a63e0e93da62e1ca6947d0506c">  143</a></span>&#160;      getRemotePath ();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#ade6f28d9321ec30bde0fec085ef4b7a5">  147</a></span>&#160;      setFileFormatToOBJ ();</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a16e2971cb0818237622188801c584db7">  152</a></span>&#160;      setFileFormatToPLY ();</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#aeaae1351a44e033b9fd9e1064fbaa404">  156</a></span>&#160;      setFileFormatToSTL ();</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a00a22198709780b05c1e0536cefbe635">  161</a></span>&#160;      getFileFormat ();</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a62608e40ad017c0ee8a1700ff3b8c13f">  168</a></span>&#160;      setLocalPath (std::<span class="keywordtype">string</span> path);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a110b82af8101a696e28ad53ba26e0b87">  175</a></span>&#160;      setRemotePath (std::<span class="keywordtype">string</span> path);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a504c6ad11cb7af25e8aa07d274063199">  183</a></span>&#160;      setLocalAndRemotePaths (std::<span class="keywordtype">string</span> local_path,</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                              std::<span class="keywordtype">string</span> remote_path);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a03a46c10cf72f43e6f7f4d2bef714059">  197</a></span>&#160;      calibrate (<span class="keywordtype">double</span> grid_size);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#ae60b14e693e05b58d2a61df2b0282e6f">  204</a></span>&#160;      grabSingleCloud (pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;pcl::<a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>&gt; &amp;cloud);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#abdd7f91a95ab9a2f3ca52aa7a70b289f">  211</a></span>&#160;      grabSingleMesh (pcl::<a class="code" href="structpcl_1_1_polygon_mesh.html">PolygonMesh</a> &amp;mesh);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#ab6801196d4ca70af3b9f6504eb6e82d9">  215</a></span>&#160;      getFramesPerSecond () const;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#ae1245178deb96ec60fe6c03b366101e7">  218</a></span>&#160;      david::Client david_;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    protected:</div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a8def3d0d78ebf4d3c9f5c487761d62aa">  222</a></span>&#160;      boost::thread grabber_thread_;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#ac4c7360702c6916b6eeecc847a9533b9">  225</a></span>&#160;      boost::signals2::signal&lt;sig_cb_davidsdk_point_cloud&gt;* point_cloud_signal_;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a45309eb7e778e2d5c6d48c8f292eaabf">  228</a></span>&#160;      boost::signals2::signal&lt;sig_cb_davidsdk_mesh&gt;* mesh_signal_;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a5914936b5f0c1a6061d01f70bd963410">  231</a></span>&#160;      boost::signals2::signal&lt;sig_cb_davidsdk_image&gt;* image_signal_;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#af9486446750dce6cf3db6bba57740737">  234</a></span>&#160;      boost::signals2::signal&lt;sig_cb_davidsdk_point_cloud_image&gt;* point_cloud_image_signal_;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a74c5e5e9a1519665b699728dea57fa2f">  237</a></span>&#160;      boost::signals2::signal&lt;sig_cb_davidsdk_mesh_image&gt;* mesh_image_signal_;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#aed1c19097c50112c4d4bf939cde80929">  240</a></span>&#160;      <span class="keywordtype">bool</span> client_connected_;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a9c88ca952ea5882bd9eca5453af53396">  243</a></span>&#160;      <span class="keywordtype">bool</span> running_;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a843eafa070aae289d82cb479da5bec94">  247</a></span>&#160;      std::<span class="keywordtype">string</span> local_path_;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#ae4fa12bc512a0e693e0cd60c67f25a45">  252</a></span>&#160;      std::<span class="keywordtype">string</span> remote_path_;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#aab3e7c03d377b7eeb4bc63dd41f14572">  255</a></span>&#160;      std::<span class="keywordtype">string</span> file_format_;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a4a3b94b04a92950e4f49dde6c81df7a6">  258</a></span>&#160;      pcl::<a class="code" href="classpcl_1_1_event_frequency.html">EventFrequency</a> frequency_;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a01e47dcc9fdb18d19e2d2fa347a38f4b">  261</a></span>&#160;      mutable boost::mutex fps_mutex_;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classpcl_1_1_david_s_d_k_grabber.html#a3e0ba33df33c2729349178cb9b908a24">  265</a></span>&#160;      processGrabbing ();</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  };</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;}  <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __PCL_IO_DAVIDSDK_GRABBER__</span></div>
<div class="ttc" id="aclasspcl_1_1_david_s_d_k_grabber_html"><div class="ttname"><a href="classpcl_1_1_david_s_d_k_grabber.html">pcl::DavidSDKGrabber</a></div><div class="ttdoc">Grabber for davidSDK structured light compliant devices. The davidSDK SDK allows to use a structured ...</div><div class="ttdef"><b>Definition:</b> davidsdk_grabber.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1_david_s_d_k_grabber_html_a10df7434d2f581b87fa3aa9c2215b736"><div class="ttname"><a href="classpcl_1_1_david_s_d_k_grabber.html#a10df7434d2f581b87fa3aa9c2215b736">pcl::DavidSDKGrabber::~DavidSDKGrabber</a></div><div class="ttdeci">virtual ~DavidSDKGrabber()</div><div class="ttdoc">Destructor inherited from the Grabber interface. It never throws.</div></div>
<div class="ttc" id="aclasspcl_1_1_david_s_d_k_grabber_html_a64af01304a65641c8abc2351fcff13b5"><div class="ttname"><a href="classpcl_1_1_david_s_d_k_grabber.html#a64af01304a65641c8abc2351fcff13b5">pcl::DavidSDKGrabber::DavidSDKGrabber</a></div><div class="ttdeci">DavidSDKGrabber()</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1_event_frequency_html"><div class="ttname"><a href="classpcl_1_1_event_frequency.html">pcl::EventFrequency</a></div><div class="ttdoc">A helper class to measure frequency of a certain event.</div><div class="ttdef"><b>Definition:</b> time.h:152</div></div>
<div class="ttc" id="aclasspcl_1_1_grabber_html"><div class="ttname"><a href="classpcl_1_1_grabber.html">pcl::Grabber</a></div><div class="ttdoc">Grabber interface for PCL 1.x device drivers</div><div class="ttdef"><b>Definition:</b> grabber.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="acommon_2time_8h_html"><div class="ttname"><a href="common_2time_8h.html">time.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1_polygon_mesh_html"><div class="ttname"><a href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a></div><div class="ttdef"><b>Definition:</b> PolygonMesh.h:16</div></div>
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